Inspection robots with a multi-function piston connecting a drive module to a central chassis

A system comprising:

• a robot body comprising a center chassis having a first drive module connection port on a first side of the center chassis, and a second drive module connection port on a second side of the center chassis;
• a first drive piston operably coupling a first drive module to the robot body at the first drive module connection port;
• a second drive piston operably coupling a second drive module to the robot body at the second drive module connection port;
• the first drive module having at least two wheels positioned to engage an inspection surface when the robot body is positioned on the inspection surface;
• the second drive module having at least two wheels positioned to engage the inspection surface when the robot body is positioned on the inspection surface;
• and
• a rotation limiter including at least one of a tongue or a slot structured to limit a rotation of at least one of the first drive module or the second drive module relative to the center chassis.

A system comprising:

• a robot body comprising a center chassis having a first drive module connection port on a first side of the center chassis, and a second drive module connection port on a second side of the center chassis;
• a first drive piston operably coupling a first drive module to the robot body at the first drive module connection port;
• a second drive piston operably coupling a second drive module to the robot body at the second drive module connection port;
• the first drive module having at least two wheels positioned to engage an inspection surface when the robot body is positioned on the inspection surface;
• the second drive module having at least two wheels positioned to engage the inspection surface when the robot body is positioned on the inspection surface;
• and
• a connector comprising:
• a connector body having a first end for coupling with a corresponding drive module and a second end for pivotally engaging the center chassis;
• an electrical interface structured to couple an electrical power source from the center chassis to an electrical power load of the corresponding drive module, and further structured to provide electrical communication between a controller positioned on the center chassis and at least one of a sensor, an actuator, or a drive controller positioned on the corresponding drive module;
• and
• a mechanical component defined, at least in part, by the connector body and structured to selectively and releasably couple the connector body to the center chassis.

An inspection robot comprising:

• a center chassis coupled to a payload, the payload operationally coupled to at least two inspection sensors;
• a drive module coupled to the center chassis, the drive module having a drive wheel positioned to engage an inspection surface when the inspection robot is positioned on the inspection surface;
• a drive piston mechanically interposed between the center chassis and the drive module, wherein:
• the drive piston in a first position couples the drive module to the center chassis at a minimum distance between the drive module and the center chassis;
• the drive piston in a second position couples the drive module to the center chassis at a maximum distance between the drive module and the center chassis;
• and
• wherein the drive module is independently rotatable relative to the center chassis;
• and
• a bias member including a spring structured to bias the drive module to a desired rotation relative to the center chassis.